3D object recognition using spin-images for a humanoid stereoscopic vision system

  • Posted on: 19 August 2014
  • By: ostasse
Title3D object recognition using spin-images for a humanoid stereoscopic vision system
Publication TypeConference Paper
Year of Publication2006
AuthorsStasse, O, Dupitier, S, Yokoi, K
Conference NameIEEE/RSJ International Conferenece on Intelligent Robots and Systems (IROS)
Date PublishedOctober
Keywordscomputer vision, object recognition
Abstract

This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD models database, and use 3D range informations. In this context, the use of a vision system is taken into account through a multi-resolution approach. A method for quickly computing multi-resolution and interpolating spin-images is proposed. The results on simulation and on real data are given, and show the effectiveness of this method

URLhttps://hal.archives-ouvertes.fr/hal-01117854/document
DOI10.1109/IROS.2006.282151